Position/force control system, position/force control apparatus, position/force control method, and storage medium

A position/force control apparatus that serves as a secondary apparatus of a position/force control system that includes one or multiple primary apparatuses that receive an input of a treatment operation, one or multiple secondary apparatuses that output a treatment operation, and a controller that controls the one or multiple primary apparatuses and the one or multiple secondary apparatuses,

• wherein force tactile sensation that corresponds to the treatment operation that is inputted into the one or multiple primary apparatuses that receive the input of the treatment operation is outputted based on a control parameter that represents the force tactile sensation that corresponds to the treatment operation.

A position/force control method that is performed by a position/force control system that includes one or multiple primary apparatuses that receive an input of a treatment operation, one or multiple secondary apparatuses that output a treatment operation, and a controller that controls the one or multiple primary apparatuses and the one or multiple secondary apparatuses, the method comprising:

• transmitting, with the controller, a control parameter for causing the one or multiple secondary apparatuses to output force tactile sensation that corresponds to the treatment operation that is inputted into the one or multiple primary apparatuses to the one or multiple secondary apparatuses, and transmitting a control parameter for causing the one or multiple primary apparatuses to output reaction force against the treatment operation that is outputted by the one or multiple secondary apparatuses to the one or multiple primary apparatuses.

A position/force control method that is performed by a secondary apparatus of a position/force control system that includes one or multiple primary apparatuses that receive an input of a treatment operation, one or multiple secondary apparatuses that output a treatment operation, and a controller that controls the one or multiple primary apparatuses and the one or multiple secondary apparatuses, the method comprising:

• outputting a force tactile sensation output at which force tactile sensation that corresponds to the treatment operation that is inputted into the one or multiple primary apparatuses that receive the input of the treatment operation is outputted based on a control parameter that represents the force tactile sensation that corresponds to the treatment operation.

A non-transitory computer-readable storage medium storing a program for causing a computer that includes a controller of a position/force control system that includes one or multiple primary apparatuses that receive an input of a treatment operation, one or multiple secondary apparatuses that output a treatment operation, and a controller that controls the one or multiple primary apparatuses and the one or multiple secondary apparatuses to fulfill a control function of transmitting a control parameter for causing the one or multiple secondary apparatuses to output force tactile sensation that corresponds to the treatment operation that is inputted into the one or multiple primary apparatuses to the one or multiple secondary apparatuses and transmitting a control parameter for causing the one or multiple primary apparatuses to output reaction force against the treatment operation that is outputted by the one or multiple secondary apparatuses to the one or multiple primary apparatuses.

A non-transitory computer-readable storage medium storing a program for causing a computer that includes a secondary apparatus of a position/force control system that includes one or multiple primary apparatuses that receive an input of a treatment operation, one or multiple secondary apparatuses that output a treatment operation, and a controller that controls the one or multiple primary apparatuses and the one or multiple secondary apparatuses to fulfill a force tactile sensation control function of outputting force tactile sensation that corresponds to the treatment operation that is inputted into the one or multiple primary apparatuses that receive the input of the treatment operation, based on a control parameter that represents the force tactile sensation that corresponds to the treatment operation.